A sensing device for vehicle includes a housing having an opening formed at one side thereof; a sensing part disposed inside the housing and configured to sense wheel-related information to generate a signal; an insert on which the sensing part is mounted and disposed in the housing through the opening; at least one connection part connected to the sensing part so as to supply power to the sensing part or to transmit the signal from the sensing part; a body coupled to the housing and formed of a first material such that a portion of the insert is embedded in the body; and a filling material provided to fill an inner space of the housing therewith and formed of a second material different from the first material.